Description

Class for a generic ED finite element node, with x,y,z displacement and a 3D rotation.

This is the typical node that can be used for beams, etc.

#include <ChNodeFEAxyzrot.h>

Inheritance diagram for chrono::fea::ChNodeFEAxyzrot:

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Collaboration diagram for chrono::fea::ChNodeFEAxyzrot:

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Public Member Functions
	ChNodeFEAxyzrot (ChFrame<> initialf=ChFrame<>())

	ChNodeFEAxyzrot (const ChNodeFEAxyzrot &other)

ChNodeFEAxyzrot &	operator= (const ChNodeFEAxyzrot &other)

virtual ChVariables &	Variables () override
	Return a reference to the encapsulated variables, representing states (pos, speed or accel.) and forces.

virtual void	Relax () override
	Set the rest position as the actual position.

virtual void	SetNoSpeedNoAcceleration () override
	Reset to no speed and acceleration.

virtual void	SetFixed (bool mev) override
	Set the 'fixed' state of the node. More...

virtual bool	GetFixed () override
	Get the 'fixed' state of the node. More...

double	GetMass ()
	Get atomic mass of the node.

void	SetMass (double mm)
	Set atomic mass of the node.

ChMatrix33 &	GetInertia ()
	Access atomic inertia of the node.

void	SetX0 (ChFrame<> mx)
	Set the initial (reference) frame.

const ChFrame &	GetX0 () const
	Get the initial (reference) frame.

ChFrame &	GetX0ref ()
	Access the initial (reference) frame.

void	SetForce (ChVector<> mf)
	Set the 3d applied force, in absolute reference.

const ChVector &	GetForce () const
	Get the 3d applied force, in absolute reference.

void	SetTorque (ChVector<> mf)
	Set the 3d applied torque, in node reference.

const ChVector &	GetTorque () const
	Get the 3d applied torque, in node reference.

ChFrameMoving &	Frame ()
	Access the frame of the node - in absolute csys, with infos on actual position, speed, acceleration, etc.

virtual int	Get_ndof_x () const override
	Get the number of degrees of freedom (7 because quaternion for rotation).

virtual int	Get_ndof_w () const override
	Get the number of degrees of freedom, derivative (6 because angular velocity for rotation derivative).

virtual ChVariables *	GetVariables1 () override

virtual void	NodeIntStateGather (const unsigned int off_x, ChState &x, const unsigned int off_v, ChStateDelta &v, double &T) override

virtual void	NodeIntStateScatter (const unsigned int off_x, const ChState &x, const unsigned int off_v, const ChStateDelta &v, const double T) override

virtual void	NodeIntStateGatherAcceleration (const unsigned int off_a, ChStateDelta &a) override

virtual void	NodeIntStateScatterAcceleration (const unsigned int off_a, const ChStateDelta &a) override

virtual void	NodeIntStateIncrement (const unsigned int off_x, ChState &x_new, const ChState &x, const unsigned int off_v, const ChStateDelta &Dv) override

virtual void	NodeIntLoadResidual_F (const unsigned int off, ChVectorDynamic<> &R, const double c) override

virtual void	NodeIntLoadResidual_Mv (const unsigned int off, ChVectorDynamic<> &R, const ChVectorDynamic<> &w, const double c) override

virtual void	NodeIntToDescriptor (const unsigned int off_v, const ChStateDelta &v, const ChVectorDynamic<> &R) override

virtual void	NodeIntFromDescriptor (const unsigned int off_v, ChStateDelta &v) override

virtual void	InjectVariables (ChSystemDescriptor &mdescriptor) override
	Tell to a system descriptor that there are variables of type ChVariables in this object (for further passing it to a solver)

virtual void	VariablesFbReset () override
	Sets the 'fb' part (the known term) of the encapsulated ChVariables to zero.

virtual void	VariablesFbLoadForces (double factor=1) override
	Adds the current forces (applied to node) into the encapsulated ChVariables, in the 'fb' part: qf+=forces*factor.

virtual void	VariablesQbLoadSpeed () override
	Initialize the 'qb' part of the ChVariables with the current value of speeds.

virtual void	VariablesQbSetSpeed (double step=0) override
	Fetches the item speed (ex. More...

virtual void	VariablesFbIncrementMq () override
	Adds M*q (masses multiplied current 'qb') to Fb, ex. More...

virtual void	VariablesQbIncrementPosition (double step) override
	Increment node positions by the 'qb' part of the ChVariables, multiplied by a 'step' factor. More...

virtual int	LoadableGet_ndof_x () override
	Gets the number of DOFs affected by this element (position part)

virtual int	LoadableGet_ndof_w () override
	Gets the number of DOFs affected by this element (speed part)

virtual void	LoadableGetStateBlock_x (int block_offset, ChState &mD) override
	Gets all the DOFs packed in a single vector (position part)

virtual void	LoadableGetStateBlock_w (int block_offset, ChStateDelta &mD) override
	Gets all the DOFs packed in a single vector (speed part)

virtual void	LoadableStateIncrement (const unsigned int off_x, ChState &x_new, const ChState &x, const unsigned int off_v, const ChStateDelta &Dv) override
	Increment all DOFs using a delta.

virtual int	Get_field_ncoords () override
	Number of coordinates in the interpolated field, ex=3 for a tetrahedron finite element or a cable, etc. More...

virtual int	GetSubBlocks () override
	Get the number of DOFs sub-blocks.

virtual unsigned int	GetSubBlockOffset (int nblock) override
	Get the offset of the specified sub-block of DOFs in global vector.

virtual unsigned int	GetSubBlockSize (int nblock) override
	Get the size of the specified sub-block of DOFs in global vector.

virtual bool	IsSubBlockActive (int nblock) const override
	Check if the specified sub-block of DOFs is active.

virtual void	LoadableGetVariables (std::vector< ChVariables * > &mvars) override
	Get the pointers to the contained ChVariables, appending to the mvars vector.

virtual void	ComputeNF (const double U, const double V, const double W, ChVectorDynamic<> &Qi, double &detJ, const ChVectorDynamic<> &F, ChVectorDynamic<> state_x, ChVectorDynamic<> state_w) override
	Evaluate Q=N'*F, for Q generalized lagrangian load, where N is some type of matrix evaluated at point P(U,V,W) assumed in absolute coordinates, and F is a load assumed in absolute coordinates. More...

virtual double	GetDensity () override
	This is not needed because not used in quadrature.

virtual void	ArchiveOUT (ChArchiveOut &marchive) override
	Method to allow serialization of transient data to archives.

virtual void	ArchiveIN (ChArchiveIn &marchive) override
	Method to allow deserialization of transient data from archives.

Public Member Functions inherited from chrono::fea::ChNodeFEAbase
virtual void	SetIndex (unsigned int mindex)
	Sets the global index of the node.

virtual unsigned int	GetIndex ()
	Gets the global index of the node.

Public Member Functions inherited from chrono::ChNodeBase
	ChNodeBase (const ChNodeBase &other)

ChNodeBase &	operator= (const ChNodeBase &other)

unsigned int	NodeGetOffset_x ()
	Get offset in the state vector (position part)

unsigned int	NodeGetOffset_w ()
	Get offset in the state vector (speed part)

void	NodeSetOffset_x (const unsigned int moff)
	Set offset in the state vector (position part)

void	NodeSetOffset_w (const unsigned int moff)
	Set offset in the state vector (speed part)

Public Member Functions inherited from chrono::ChBodyFrame
	ChBodyFrame (const ChBodyFrame &other)

void	To_abs_forcetorque (const ChVector<> &force, const ChVector<> &appl_point, bool local, ChVector<> &resultforce, ChVector<> &resulttorque)
	Transform a force applied at a point on the body into a force and moment applied to the COM and expressed in the absolute frame. More...

Public Member Functions inherited from chrono::ChFrameMoving< double >
	ChFrameMoving (const ChVector< double > &mv=ChVector< double >(0, 0, 0), const ChQuaternion< double > &mq=ChQuaternion< double >(1, 0, 0, 0))
	Construct from pos and rot (as a quaternion)

	ChFrameMoving (const ChVector< double > &mv, const ChMatrix33< double > &ma)
	Construct from pos and rotation (as a 3x3 matrix)

	ChFrameMoving (const ChCoordsys< double > &mc)
	Construct from a coordsys.

	ChFrameMoving (const ChFrame< double > &mc)
	Construct from a frame.

	ChFrameMoving (const ChFrameMoving< double > &other)
	Copy constructor, build from another moving frame.

virtual	~ChFrameMoving ()
	Destructor.

ChFrameMoving< double > &	operator= (const ChFrameMoving< double > &other)
	Assignment operator: copy from another moving frame.

ChFrameMoving< double > &	operator= (const ChFrame< double > &other)
	Assignment operator: copy from another frame.

bool	operator== (const ChFrameMoving< double > &other) const
	Returns true for identical frames.

bool	operator!= (const ChFrameMoving< double > &other) const
	Returns true for different frames.

ChFrameMoving< double >	operator>> (const ChFrameMoving< double > &Fb) const
	The '>>' operator transforms a coordinate system, so transformations can be represented with this syntax: new_frame = old_frame >> tr_frame; For a sequence of transformations, i.e. More...

ChFrameMoving< double >	operator* (const ChFrameMoving< double > &Fb) const
	The '' operator transforms a coordinate system, so transformations can be represented with this syntax: new_frame = tr_frame old_frame; For a sequence of transformations, i.e. More...

ChFrameMoving< double > &	operator>>= (const ChFrameMoving< double > &T)
	Performs pre-multiplication of this frame by another frame, for example: A>>=T means A'=T*A ; or A'=A >> T.

ChFrameMoving< double > &	operator>>= (const ChVector< double > &D)
	Performs pre-multiplication of this frame by a vector D, to 'move' by a displacement D:

ChFrameMoving< double > &	operator>>= (const ChQuaternion< double > &R)
	Performs pre-multiplication of this frame by a quaternion R, to 'rotate' it by R:

ChFrameMoving< double > &	operator>>= (const ChCoordsys< double > &F)
	Performs pre-multiplication of this frame by a ChCoordsys F:

ChFrameMoving< double > &	operator>>= (const ChFrame< double > &F)
	Performs pre-multiplication of this frame by a ChFrame F:

ChFrameMoving< double > &	operator%= (const ChFrameMoving< double > &T)
	Performs pre-multiplication of this frame by another frame, for example: A%=T means A'=T*A ; or A'=A >> T Note: DEPRECATED, use >>= instead.

ChFrameMoving< double > &	operator*= (const ChFrameMoving< double > &T)
	Performs post-multiplication of this frame by another frame, for example: A=T means A'=AT ; or A'=T >> A.

ChCoordsys< double > &	GetCoord_dt ()
	Return both current rotation and translation speeds as a coordsystem object, with vector and quaternion.

const ChCoordsys< double > &	GetCoord_dt () const

ChCoordsys< double > &	GetCoord_dtdt ()
	Return both current rotation and translation accelerations as a coordsystem object, with vector and quaternion.

const ChCoordsys< double > &	GetCoord_dtdt () const

ChVector< double > &	GetPos_dt ()
	Return the current speed as a 3d vector.

const ChVector< double > &	GetPos_dt () const

ChVector< double > &	GetPos_dtdt ()
	Return the current acceleration as a 3d vector.

const ChVector< double > &	GetPos_dtdt () const

ChQuaternion< double > &	GetRot_dt ()
	Return the current rotation speed as a quaternion.

const ChQuaternion< double > &	GetRot_dt () const

ChQuaternion< double > &	GetRot_dtdt ()
	Return the current rotation acceleration as a quaternion.

const ChQuaternion< double > &	GetRot_dtdt () const

ChVector< double >	GetWvel_loc () const
	Computes the actual angular speed (expressed in local coords)

ChVector< double >	GetWvel_par () const
	Computes the actual angular speed (expressed in parent coords)

ChVector< double >	GetWacc_loc () const
	Computes the actual angular acceleration (expressed in local coords)

ChVector< double >	GetWacc_par () const
	Computes the actual angular acceleration (expressed in parent coords)

virtual void	SetCoord_dt (const ChCoordsys< double > &mcoord_dt)
	Set both linear speed and rotation speed as a single ChCoordsys derivative.

virtual void	SetPos_dt (const ChVector< double > &mvel)
	Set the linear speed.

virtual void	SetRot_dt (const ChQuaternion< double > &mrot_dt)
	Set the rotation speed as a quaternion. More...

virtual void	SetWvel_loc (const ChVector< double > &wl)
	Set the rotation speed from given angular speed (expressed in local csys)

virtual void	SetWvel_par (const ChVector< double > &wp)
	Set the rotation speed from given angular speed (expressed in parent csys)

virtual void	SetCoord_dtdt (const ChCoordsys< double > &mcoord_dtdt)
	Set both linear acceleration and rotation acceleration as a single ChCoordsys derivative.

virtual void	SetPos_dtdt (const ChVector< double > &macc)
	Set the linear acceleration.

virtual void	SetRot_dtdt (const ChQuaternion< double > &mrot_dtdt)
	Set the rotation acceleration as a quaternion derivative. More...

virtual void	SetWacc_loc (const ChVector< double > &al)
	Set the rotation acceleration from given angular acceleration (expressed in local csys) Note: even when the local angular acceleration is zero, you are still encouraged to call this method bacause q_dtdt might be nonzero due to nonzero q_dt in case of rotational motion.

virtual void	SetWacc_par (const ChVector< double > &ap)
	Set the rotation speed from given angular speed (expressed in parent csys)

void	Compute_Adt (ChMatrix33< double > &mA_dt) const
	Computes the time derivative of rotation matrix, mAdt.

void	Compute_Adtdt (ChMatrix33< double > &mA_dtdt)
	Computes the 2nd time derivative of rotation matrix, mAdtdt.

ChMatrix33< double >	GetA_dt ()
	Computes and returns an Adt matrix (-note: prefer using Compute_Adt() directly for better performance)

ChMatrix33< double >	GetA_dtdt ()
	Computes and returns an Adt matrix (-note: prefer using Compute_Adtdt() directly for better performance)

void	ConcatenatePreTransformation (const ChFrameMoving< double > &T)
	Apply a transformation (rotation and translation) represented by another ChFrameMoving T. More...

void	ConcatenatePostTransformation (const ChFrameMoving< double > &T)
	Apply a transformation (rotation and translation) represented by another ChFrameMoving T in local coordinate. More...

ChVector< double >	PointSpeedLocalToParent (const ChVector< double > &localpos) const
	Given the position of a point in local frame coords, and assuming it is sticky to frame, return the speed in parent coords.

ChVector< double >	PointSpeedLocalToParent (const ChVector< double > &localpos, const ChVector< double > &localspeed) const
	Given the position localpos of a point in the local reference frame, assuming that the point moves in the local reference frame with localspeed, return the speed in the parent reference frame.

ChVector< double >	PointAccelerationLocalToParent (const ChVector< double > &localpos) const
	Given the position of a point in local frame coords, and assuming it is sticky to frame, return the acceleration in parent coords. More...

ChVector< double >	PointAccelerationLocalToParent (const ChVector< double > &localpos, const ChVector< double > &localspeed, const ChVector< double > &localacc) const
	Given the position of a point in local frame coords, and assuming it has a frame-relative speed localspeed and frame-relative acceleration localacc, return the acceleration in parent coords.

ChVector< double >	PointSpeedParentToLocal (const ChVector< double > &parentpos, const ChVector< double > &parentspeed) const
	Given the position of a point in parent frame coords, and assuming it has an absolute speed parentspeed, return the speed in local coords.

ChVector< double >	PointAccelerationParentToLocal (const ChVector< double > &parentpos, const ChVector< double > &parentspeed, const ChVector< double > &parentacc) const
	Given the position of a point in parent frame coords, and assuming it has an absolute speed parentspeed and absolute acceleration parentacc, return the acceleration in local coords.

void	TransformLocalToParent (const ChFrameMoving< double > &local, ChFrameMoving< double > &parent) const
	This function transforms a frame from 'this' local coordinate system to parent frame coordinate system, and also transforms the speed and acceleration of the frame. More...

void	TransformParentToLocal (const ChFrameMoving< double > &parent, ChFrameMoving< double > &local) const
	This function transforms a frame from the parent coordinate system to 'this' local frame coordinate system. More...

bool	Equals (const ChFrameMoving< double > &other) const
	Returns true if coordsys is identical to other coordsys.

bool	Equals (const ChFrameMoving< double > &other, double tol) const
	Returns true if coordsys is equal to other coordsys, within a tolerance 'tol'.

virtual void	Invert () override
	The transformation (also for speeds, accelerations) is inverted in place. More...

ChFrameMoving< double >	GetInverse () const

Public Member Functions inherited from chrono::ChFrame< double >
	ChFrame (const ChVector< double > &mv=ChVector< double >(0, 0, 0), const ChQuaternion< double > &mq=ChQuaternion< double >(1, 0, 0, 0))
	Default constructor, or construct from pos and rot (as a quaternion)

	ChFrame (const ChVector< double > &mv, const ChMatrix33< double > &ma)
	Construct from pos and rotation (as a 3x3 matrix)

	ChFrame (const ChCoordsys< double > &mc)
	Construct from a coordsys.

	ChFrame (const ChVector< double > &mv, const double alpha, const ChVector< double > &mu)
	Construct from position mv and rotation of angle alpha around unit vector mu.

	ChFrame (const ChFrame< double > &other)
	Copy constructor, build from another frame.

ChFrame< double > &	operator= (const ChFrame< double > &other)
	Assignment operator: copy from another frame.

bool	operator== (const ChFrame< double > &other) const
	Returns true for identical frames.

bool	operator!= (const ChFrame< double > &other) const
	Returns true for different frames.

ChFrame< double >	operator>> (const ChFrame< double > &Fb) const
	The '>>' operator transforms a coordinate system, so transformations can be represented with this syntax: new_frame = old_frame >> tr_frame; For a sequence of transformations, i.e. More...

ChFrame< double >	operator* (const ChFrame< double > &Fb) const
	The '>>' operator transforms a vector, so transformations can be represented with this syntax: new_v = old_v >> tr_frame; For a sequence of transformations, i.e. More...

ChVector< double >	operator* (const ChVector< double > &V) const
	The '' operator transforms a vector, so transformations can be represented with this syntax: new_v = tr_frame old_v; For a sequence of transformations, i.e. More...

ChVector< double >	operator/ (const ChVector< double > &V) const
	The '/' is like the '*' operator (see), but uses the inverse transformation for A, in A/b. More...

ChFrame< double > &	operator>>= (const ChFrame< double > &T)
	Performs pre-multiplication of this frame by another frame, for example: A>>=T means A'=T*A ; or A'=A >> T.

ChFrame< double > &	operator>>= (const ChVector< double > &D)
	Performs pre-multiplication of this frame by a vector D, to 'move' by a displacement D:

ChFrame< double > &	operator>>= (const ChQuaternion< double > &R)
	Performs pre-multiplication of this frame by a quaternion R, to 'rotate' it by R:

ChFrame< double > &	operator>>= (const ChCoordsys< double > &F)
	Performs pre-multiplication of this frame by a ChCoordsys F, to transform it:

ChFrame< double > &	operator%= (const ChFrame< double > &T)
	Performs pre-multiplication of this frame by another frame, for example: A%=T means A'=T*A ; or A'=A >> T Note: DEPRECATED, use >>= instead.

ChFrame< double > &	operator*= (const ChFrame< double > &T)
	Performs post-multiplication of this frame by another frame, for example: A=T means A'=AT ; or A'=T >> A.

ChCoordsys< double > &	GetCoord ()
	Return both current rotation and translation as a coordsystem object, with vector and quaternion.

const ChCoordsys< double > &	GetCoord () const

ChVector< double > &	GetPos ()
	Return the current translation as a 3d vector.

const ChVector< double > &	GetPos () const

ChQuaternion< double > &	GetRot ()
	Return the current rotation as a quaternion.

const ChQuaternion< double > &	GetRot () const

ChMatrix33< double > &	GetA ()
	Return the current rotation as a 3x3 matrix.

const ChMatrix33< double > &	GetA () const

ChVector< double >	GetRotAxis ()
	Get axis of finite rotation, in parent space.

double	GetRotAngle ()
	Get angle of rotation about axis of finite rotation.

void	SetCoord (const ChCoordsys< double > &mcoord)
	Impose both translation and rotation as a single ChCoordsys. More...

void	SetCoord (const ChVector< double > &mv, const ChQuaternion< double > &mq)
	Impose both translation and rotation. More...

void	SetRot (const ChQuaternion< double > &mrot)
	Impose the rotation as a quaternion. More...

void	SetRot (const ChMatrix33< double > &mA)
	Impose the rotation as a 3x3 matrix. More...

void	SetPos (const ChVector< double > &mpos)
	Impose the translation.

void	ConcatenatePreTransformation (const ChFrame< double > &T)
	Apply a transformation (rotation and translation) represented by another ChFrame T. More...

void	ConcatenatePostTransformation (const ChFrame< double > &T)
	Apply a transformation (rotation and translation) represented by another ChFrame T in local coordinate. More...

void	Move (const ChVector< double > &V)
	An easy way to move the frame by the amount specified by vector V, (assuming V expressed in parent coordinates)

void	Move (const ChCoordsys< double > &VR)
	Apply both translation and rotation, assuming both expressed in parent coordinates, as a vector for translation and quaternion for rotation,.

ChVector< double >	TransformLocalToParent (const ChVector< double > &local) const
	This function transforms a point from the local frame coordinate system to the parent coordinate system. More...

void	TransformLocalToParent (const ChFrame< double > &local, ChFrame< double > &parent) const
	This function transforms a frame from 'this' local coordinate system to parent frame coordinate system. More...

ChVector< double >	TransformPointLocalToParent (const ChVector< double > &local) const

ChVector< double >	TransformParentToLocal (const ChVector< double > &parent) const
	This function transforms a point from the parent coordinate system to local frame coordinate system. More...

void	TransformParentToLocal (const ChFrame< double > &parent, ChFrame< double > &local) const
	This function transforms a frame from the parent coordinate system to 'this' local frame coordinate system. More...

ChVector< double >	TransformPointParentToLocal (const ChVector< double > &parent) const

ChVector< double >	TransformDirectionParentToLocal (const ChVector< double > &mdirection) const
	This function transforms a direction from 'this' local coordinate system to parent frame coordinate system. More...

ChVector< double >	TransformDirectionLocalToParent (const ChVector< double > &mdirection) const
	This function transforms a direction from the parent frame coordinate system to 'this' local coordinate system. More...

bool	Equals (const ChFrame< double > &other) const
	Returns true if coordsys is identical to other coordsys.

bool	Equals (const ChFrame< double > &other, double tol) const
	Returns true if coordsys is equal to other coordsys, within a tolerance 'tol'.

void	Normalize ()
	Normalize the rotation, so that quaternion has unit length.

virtual void	SetIdentity ()
	Sets to no translation and no rotation.

ChFrame< double >	GetInverse () const

Public Member Functions inherited from chrono::ChLoadableUVW
virtual bool	IsTetrahedronIntegrationNeeded ()
	If true, use quadrature over u,v,w in [0..1] range as tetrahedron volumetric coords (with z=1-u-v-w) otherwise use default quadrature over u,v,w in [-1..+1] as box isoparametric coords.

virtual bool	IsTrianglePrismIntegrationNeeded ()
	If true, use quadrature over u,v in [0..1] range as triangle natural coords (with z=1-u-v), and use linear quadrature over w in [-1..+1], otherwise use default quadrature over u,v,w in [-1..+1] as box isoparametric coords.

Additional Inherited Members
Public Types inherited from chrono::ChVariableTupleCarrier_1vars< 6 >
typedef ChConstraintTuple_1vars< ChVariableTupleCarrier_1vars< N1 > >	type_constraint_tuple

Public Attributes inherited from chrono::fea::ChNodeFEAbase
double	m_TotalMass
	Nodal mass obtained from element masss matrix.

Public Attributes inherited from chrono::ChFrameMoving< double >
ChCoordsys< double >	coord_dt
	Rotation and position speed, as vector+quaternion.

ChCoordsys< double >	coord_dtdt
	Rotation and position acceleration, as vector+quaternion.

Public Attributes inherited from chrono::ChFrame< double >
ChCoordsys< double >	coord
	Rotation and position, as vector+quaternion.

ChMatrix33< double >	Amatrix
	3x3 orthogonal rotation matrix

Static Public Attributes inherited from chrono::ChVariableTupleCarrier_1vars< 6 >
static const int	nvars1

Protected Attributes inherited from chrono::fea::ChNodeFEAbase
unsigned int	g_index
	global node index

Protected Attributes inherited from chrono::ChNodeBase
unsigned int	offset_x
	offset in vector of state (position part)

unsigned int	offset_w
	offset in vector of state (speed part)

Member Function Documentation

◆ ComputeNF()

void chrono::fea::ChNodeFEAxyzrot::ComputeNF	(	const double	U,
		const double	V,
		const double	W,
		ChVectorDynamic<> &	Qi,
		double &	detJ,
		const ChVectorDynamic<> &	F,
		ChVectorDynamic<> *	state_x,
		ChVectorDynamic<> *	state_w
	)

overridevirtual

Evaluate Q=N'*F, for Q generalized lagrangian load, where N is some type of matrix evaluated at point P(U,V,W) assumed in absolute coordinates, and F is a load assumed in absolute coordinates.

det[J] is unused.

Parameters

U	x coordinate of application point in absolute space
V	y coordinate of application point in absolute space
W	z coordinate of application point in absolute space
Qi	Return result of N'*F here, maybe with offset block_offset
detJ	Return det[J] here
F	Input F vector, size is 6, it is {Force,Torque} both in absolute coords.
state_x	if != 0, update state (pos. part) to this, then evaluate Q
state_w	if != 0, update state (speed part) to this, then evaluate Q

Implements chrono::ChLoadableUVW.

◆ Get_field_ncoords()

virtual int chrono::fea::ChNodeFEAxyzrot::Get_field_ncoords ( )

inlineoverridevirtual

Number of coordinates in the interpolated field, ex=3 for a tetrahedron finite element or a cable, etc.

Here is 6: xyz displ + xyz rots

Implements chrono::ChLoadable.

◆ GetFixed()

virtual bool chrono::fea::ChNodeFEAxyzrot::GetFixed ( )

inlineoverridevirtual

Get the 'fixed' state of the node.

If true, its current field value is not changed by solver.

Implements chrono::fea::ChNodeFEAbase.

◆ SetFixed()

virtual void chrono::fea::ChNodeFEAxyzrot::SetFixed ( bool mev )

inlineoverridevirtual

Set the 'fixed' state of the node.

If true, its current field value is not changed by solver.

Implements chrono::fea::ChNodeFEAbase.

◆ VariablesFbIncrementMq()

void chrono::fea::ChNodeFEAxyzrot::VariablesFbIncrementMq ( )

overridevirtual

Adds M*q (masses multiplied current 'qb') to Fb, ex.

if qb is initialized with v_old using VariablesQbLoadSpeed, this method can be used in timestepping schemes that do: M*v_new = M*v_old + forces*dt

Reimplemented from chrono::ChNodeBase.

◆ VariablesQbIncrementPosition()

void chrono::fea::ChNodeFEAxyzrot::VariablesQbIncrementPosition ( double step )

overridevirtual

Increment node positions by the 'qb' part of the ChVariables, multiplied by a 'step' factor.

pos+=qb*step If qb is a speed, this behaves like a single step of 1-st order numerical integration (Eulero integration).

Reimplemented from chrono::ChNodeBase.

◆ VariablesQbSetSpeed()

void chrono::fea::ChNodeFEAxyzrot::VariablesQbSetSpeed ( double step = 0 )

overridevirtual

Fetches the item speed (ex.

linear velocity, in xyz nodes) from the 'qb' part of the ChVariables and sets it as the current item speed. If 'step' is not 0, also should compute the approximate acceleration of the item using backward differences, that is accel=(new_speed-old_speed)/step. Mostly used after the solver provided the solution in ChVariables.

Reimplemented from chrono::ChNodeBase.

The documentation for this class was generated from the following files:

/builds/uwsbel/chrono/src/chrono/fea/ChNodeFEAxyzrot.h
/builds/uwsbel/chrono/src/chrono/fea/ChNodeFEAxyzrot.cpp

Description

Public Member Functions

Additional Inherited Members

Member Function Documentation

◆ ComputeNF()

◆ Get_field_ncoords()

◆ GetFixed()

◆ SetFixed()

◆ VariablesFbIncrementMq()

◆ VariablesQbIncrementPosition()

◆ VariablesQbSetSpeed()